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stepjam / RLBench

A large-scale benchmark and learning environment.
https://sites.google.com/corp/view/rlbench
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would it possible for more realistic grasping as in real world #97

Closed v-wewei closed 3 years ago

v-wewei commented 3 years ago

dear author, would it possible for more realistic grasping as in the real world, since rlbench give fake grasping by proximity sensor in the middle of the gripper tips.

Thanks,

stepjam commented 3 years ago

I can certainly provide a function that would allow you to turn off the fake grasping. Would this be OK? Bare in mind that some of the tasks' demos will most likely fail in this mode though.

v-wewei commented 3 years ago

@stepjam yes, I would like to avoid the fake grasping in our env. Thanks very much! So, where can I found the function?

stepjam commented 3 years ago

This is now in 1.0.9 (which will soon be merged to main). You can disable the fake grasping by:

e = Environment(..., attach_grasped_objects=False)